#include <ros/ros.h>
#include <std_msgs/String.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/PoseStamped.h>
#include <robina_tiny_communication/tiny_go_and_spot_markerAction.h>
#include <robina_tiny_communication/tiny_2dnav_posAction.h>

using namespace std;

robina_tiny_communication::tiny_2dnav_posGoal marker;

int main (int argc, char** argv)
{
    ros::init(argc,argv,"tiny_client");
    ros::NodeHandle n;
    ROS_INFO("started");

    actionlib::SimpleActionClient<robina_tiny_communication::tiny_2dnav_posAction> tiny_2dnav_marker ("/tiny_2dNav_pos");
    tiny_2dnav_marker.waitForServer();
    ROS_INFO("ASGHAR");
    marker.position.header.frame_id = "/map";
    marker.position.header.stamp = ros::Time::now();
    marker.position.pose.position.x = 6.67189;
marker.position.pose.position.y = 0.365756;
marker.position.pose.position.z = 0;
marker.position.pose.orientation.w = 0.42743;
marker.position.pose.orientation.z = 0.485648;
marker.position.pose.orientation.x = 0;
marker.position.pose.orientation.y = 0;

    tiny_2dnav_marker.sendGoal(marker);
    tiny_2dnav_marker.waitForResult();
    ROS_INFO("ASSS");

    cout<<marker;

    ros::spin();

    return 0;
}
